Fiber actuator for haptic feedback

ABSTRACT

This disclosure relates to fiber actuators for providing haptic feedback, and haptic actuation resulting from mechanical and/or electrostatic (non-mechanical) interactions with the fiber actuators. Such fiber actuators are useful in structural materials, including as elements of wearables or accessories.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of U.S. application Ser. No.15/454,362, filed Mar. 9, 2017, the disclosure of which is incorporatedby reference herein in its entirety.

TECHNICAL FIELD

This disclosure relates to fiber actuators for providing hapticfeedback, and haptic actuation resulting from mechanical and/orelectrostatic (non-mechanical) feedback. Such fiber actuators are usefulin structural materials, including as elements of wearables oraccessories.

BACKGROUND

Haptic feedback for use in wearables or accessories has traditionallybeen based on the use of eccentric rotating mass (ERM) motors and linearresonant actuators (LRA). However, these types of actuators aretypically bulky and often require large amounts of power, making themdifficult to integrate into clothing or other wearables or accessories(i.e., jewelry, etc.). Shape memory alloys have also been used inwearables, but again, power consumption often limits their applicabilityand ease of integration.

What is needed is a simple mechanism for providing haptic feedback to auser that can readily be implemented in wearable and accessory goods.

SUMMARY

This disclosure relates to fiber actuators for providing hapticfeedback, wherein the fiber actuator may be used in variousapplications, such as wearables and accessory goods.

In exemplary embodiments, provided herein are fiber actuators forproviding haptic feedback to a user. Fiber actuators include, forexample, a first conductive element, a polymeric layer concentricallydisposed about the first conductive element and configured to deform soas to provide haptic feedback, and a second conductive elementconcentrically disposed about the polymeric layer. In embodiments, thefiber actuator has a substantially circular cross-section forsubstantially an entire length thereof.

Also provided herein are smart materials for providing haptic feedback,which include, a structural material, and a fiber actuator associatedwith the structural material, which includes a first conductive element,a polymeric layer concentrically disposed about the first conductiveelement and configured to deform so as to provide haptic feedback, and asecond conductive element concentrically disposed about the polymericlayer. Suitably, the fiber actuator has a substantially circularcross-section for substantially an entire length thereof.

Also provided herein are methods for providing haptic feedback to a uservia a fiber actuator. The methods suitably include providing a fiberactuator as described herein, transmitting an actuation signal to apower source electrically coupled to the fiber actuator, and generatinghaptic feedback via the fiber actuator.

BRIEF DESCRIPTION OF THE DRAWINGS

The foregoing and other features and aspects of the present technologycan be better understood from the following description of embodimentsand as illustrated in the accompanying drawings. The accompanyingdrawings, which are incorporated herein and form a part of thespecification, further serve to illustrate the principles of the presenttechnology. The components in the drawings are not necessarily to scale.

FIG. 1A shows a fiber actuator in accordance with an embodiment hereof.

FIG. 1B shows a sectional view of an exemplary fiber actuator of FIG.1A, taken through line B-B, in accordance with an embodiment hereof.

FIG. 1C shows a section view of an alterative fiber actuator of FIG. 1A,taken through line B-B, in accordance with an embodiment hereof.

FIGS. 2A-2B show a smart material for providing haptic feedback inaccordance with an embodiment hereof.

DETAILED DESCRIPTION

Various embodiments will be described in detail, some with reference tothe drawings. Reference to various embodiments does not limit the scopeof the claims attached hereto. Additionally, any embodiments set forthin this specification are not intended to be limiting and merely setforth some of the many possible embodiments for the appended claims.

Whenever appropriate, terms used in the singular also will include theplural and vice versa. The use of “a” herein means “one or more” unlessstated otherwise or where the use of “one or more” is clearlyinappropriate. The use of “or” means “and/or” unless stated otherwise.The use of “comprise,” “comprises,” “comprising,” “include,” “includes,”“including,” “has,” and “having” are interchangeable and not intended tobe limiting. The term “such as” also is not intended to be limiting. Forexample, the term “including” shall mean “including, but not limitedto.”

In embodiments, provided herein are fiber actuators for providing hapticfeedback, which include a first conductive element, a polymeric layerconcentrically disposed about the first conductive element andconfigured to deform so as to provide haptic feedback, and a secondconductive element concentrically disposed about the polymeric layer.

In further embodiments, provided herein are smart materials forproviding haptic feedback to a user, which include a structural materialand a fiber actuator, as described herein.

As used herein “fiber actuator(s)” refers to a material having across-section that is substantially circular, and a length that is atleast 2 or more times greater than its cross-section. In embodiments,the fiber actuators contain an inner or core material, which issurrounded, concentrically, by one or more layers of additionalmaterials.

As used herein “smart material(s)” refers to a material that is capableof being controlled such that the response and properties of thematerial change under the influence of an external stimulus.

As used herein “haptic feedback” or “haptic feedback signal” refer toinformation such as vibration, texture, and/or heat, etc., that aretransferred, via the sense of touch, from a fiber actuator and/or smartmaterial as described herein, to a user.

As used herein, “structural material” means a material used inconstructing a wearable, personal accessory, luggage, etc. Examples ofstructural materials include: fabrics and textiles, such as cotton,silk, wool, nylon, rayon, synthetics, flannel, linen, polyester, wovenor blends of such fabrics, etc.; leather; suede; pliable metallic suchas foil; Kevlar, etc. Examples of wearables include: clothing; footwear;prosthetics such as artificial limbs; headwear such as hats and helmets;athletic equipment worn on the body; protective equipment such asballistic vests, helmets, and other body armor. Personal accessoriesinclude: eyeglasses; neckties and scarfs; belts and suspenders; jewelrysuch as bracelets, necklaces, and watches (including watch bands andstraps); and wallets, billfolds, luggage tags, etc. Luggage includes:handbags, purses, travel bags, suitcases, backpacks, and includinghandles for such articles, etc.

FIG. 1A illustrates an exemplary fiber actuator 100 as described herein.FIG. 1B shows a section through line B-B of fiber actuator 100, in whicha hollow core fiber is utilized or employed. FIG. 1C shows across-section through line B-B of fiber actuator 100, in which a solidcore fiber is utilized or employed. In embodiments, as shown in FIG. 1B,fiber actuator 100 includes a first conductive element 102. In suchembodiments, first conductive element 102 forms a hollow core of fiberactuator 100, forming a substantially circular cross-section of thefiber actuator. In FIG. 1C, first conductive element 102′ is a solidcore of fiber actuator 100, forming a substantially circularcross-section of the fiber actuator.

As shown in FIG. 1B, fiber actuator 100 further includes a polymericlayer 104 concentrically disposed about first conductive element 102 andconfigured to deform so as to provide haptic feedback. In fiber actuator100 of FIG. 1B, first conductive element 102 essentially forms a coatingor inner lining of polymeric layer 104, thereby providing the hollowcore structure of fiber actuator 100. In FIG. 1C, polymeric layer 104 isconcentrically disposed about the solid core of first conductive element102′, forming a coating surrounding the solid core structure of fiberactuator 100.

Fiber actuator 100 further includes a second conductive element 106,concentrically disposed about polymeric layer 104. In FIG. 1A and 1B,second conductive element 106 is represented as a coating or layersurrounding polymeric layer 104.

As described herein, fiber actuator 100, whether including a solid orhollow core structure, has a substantially uniform cross-section forsubstantially an entire length of the fiber actuator, and in certainembodiments, has a substantially circular cross-section forsubstantially an entire length of the fiber actuator. It is thissubstantially uniform cross-section (and in embodiments thesubstantially circular cross-section) that provides fiber actuator 100with one of its characteristics to allow for use or integration instructural materials, including wearables, as described herein.“Substantially uniform cross-section” means that a section taken throughthe fiber has a cross-section that is uniform, i.e., within about 5-10%throughout “substantially an entire length” of the fiber actuator.“Substantially circular cross-section” means that a section takenthrough the fiber has a diameter that is uniform, i.e., within about5-10% throughout “substantially an entire length” of the fiber actuator.“Substantially an entire length” means at least 80-90% of the entirelength of the fiber actuator. In embodiments, the fiber actuator has across-section, and suitably a diameter, that is uniform within about1-5% (suitably within about 4%, about 3%, about 2% about 1% or about0.5%) over at least about 90-95%, and suitably 95% or more (e.g., 96%,97%, 98%, 99% or 100%) of the entire length of the fiber actuator. Infurther embodiments, other cross-sections (i.e., square, rectangular,triangular, oval, etc.), can also be used that are also substantiallyuniform, as described herein.

Exemplary conductive elements for use in fiber actuator 100 include, butare not limited to, silver, gold, various conductive metals or polymers,including, Al, Cr, poly(3,4-ethylenedioxythiophene), polystyrenesulfonate (PEDOT:PSS), etc.). In embodiments where the first conductiveelement forms a solid core, as FIG. 1C, first conductive element 102′can be a solid wire or filament of a conductive element, including agold or silver wire, etc. Polymeric layer 104 can then be disposed,coated or otherwise associated with the solid core to form theconcentrically disposed structure. As used herein “concentricallydisposed” refers to a layer(s) of material that is applied or coated ona structure, such that the layers have the same circular center whenviewed in cross-section.

In embodiments where the first conductive element forms a hollow core,as in FIG. 1B, the inner surface of polymeric layer 104 can be coated orcovered with a film or coating of a metal or other material, to formfirst conductive element 102. Similarly, second conductive element 106can also be coated or disposed on polymeric layer 104, thereby formingthe structure shown in FIG. 1B. For example, a hollow polymeric fiber orfilament can be prepared, using for example, a fiber spinning methodwherein concentric cylinders are used, and a polymer fills in the gapsbetween the cylinders to form a hollow fiber, such as polymeric layer104. First conductive element 102 can then be applied to the innersurface of polymeric layer 104 to form the hollow fiber structure.Similarly, second conductive element 106 can be applied to the outersurface of the hollow fiber, polymeric layer 104, to form the structureshown in FIG. 1B. Methods of applying first and second conductiveelements can include sputtering, dip-coating, spraying, electro-plating,painting, etc. In embodiments, surface patterning can be used toselectively etch the surface of polymeric layer 104 to increase thesurface area or create a desired structure which can then be coated orcovered with a thin film of conductive material to create the firstand/or second conductive elements described herein.

In further embodiments, first 102 and/or second 106 conductive elementscan be positioned over certain sections of the fiber actuator, withsections between the conductive elements in a non-active state (i.e.,lacking one or more of the conductive elements). Fiber actuator 100 canbe prepared with repeated sections of “active”—containing electrode(s)and “inactive,”—lacking electrode(s) to provide a patterned fiber. Suchpatterning can occur, for example, over a stretch of about 1-5 cm withelectrodes, about 1-5 cm without electrodes, and then repeated, etc.

Polymeric layer 104 suitably includes an electroactive polymer.Electroactive polymers include polymers such as, but not limited to,poly(vinylidene fluoride), poly(pyrrole), poly(thiophene), poly(aniline)and mixtures, co-polymers, and derivatives thereof. Exemplary classes ofelectroactive polymers include dielectric and ionic polymers. Adielectric polymer (or dielectric elastomer) may be made to change shapein response to an electric field being generated between two electrodesthat then squeezes the polymer. Dielectric polymers are capable of veryhigh strains and are fundamentally a capacitor that changes itscapacitance when a voltage is applied by allowing the polymer tocompress in thickness and expand in area due to the electric field. Anionic polymer may undergo a change in shape or size due to displacementof ions inside the polymer. In addition, some ionic polymers require thepresence of an aqueous environment to maintain an ionic flow.

Methods of preparing electroactive polymers are known in the art, andcan suitably include dissolving a desired polymer in a suitable solvent,and then casting the polymer in the desired shape (i.e., fiber orfilament). Alternatively, the polymer may be drawn, or subjected tofiber spinning techniques, so as to be prepared with the desiredfilament (core or hollow structure) dimensions, as described herein.Additional methods include melt mixing, in which the polymer is heatedabove the softening/melting point, and then the polymer film isprocessed using film processing (casting or blowing) techniques.

Polymer layer 104 will suitably have a thickness on the order of about 5μm to millimeters, e.g., about 1 μm to 5 mm, about 1 μm to 1 mm, about 1μm to 500 μm, or about 5 μm to about 500 μm, or about 10 μm to 500 μm,or about 1 μm to about 100 μm, though thicker or thinner polymer layerscan also be utilized.

First conductive element 102′, in the form of a solid core structure,can have a diameter on the order of 5 μm to millimeters, e.g., about 1μm to 10 mm, about 1 μm to 5 mm, about 1 μm to 1 mm, about 1 μm to 500μm, or about 5 μm to about 500 μm, or about 10 μm to 500 μm, or about 1μm to about 100 μm. When first conductive element is in the form of acoating or layer, as in FIG. 1B, the thickness of the conductive elementwill generally be on the order of microns, suitably about 0.5 μm toabout 500 μm, more suitably about 0.5 μm to about 100 μm, or about 0.5μm to about 50 μm.

Overall, the diameter of the fiber actuators 100 described herein issuitably on the order of 10's to 100's of microns, or up to millimeters,for example, on the order of about 1 μm to 10 mm, about 1 μm to 5 mm,about 1 μm to 1 mm, about 1 μm to 500 μm, or about 5 μm to about 500 μm,or about 10 μm to 500 μm, or about 1 μm to about 100 μm. The length offiber actuators 100 can be on the order of microns to millimeters tocentimeters to meters, depending on the ultimate application and use ofthe fiber actuator.

Additional examples of compositions useful as polymer layer 104 includepiezoelectric polymers and shape memory polymers. Exemplarypiezoelectric materials include, but are not limited to, bariumtitanate, hydroxyapatite, apatite, lithium sulfate monohydrate, sodiumpotassium niobate, quartz, lead zirconium titanate (PZT), tartaric acidand polyvinylidene difluoride fibers. Other piezoelectric materialsknown in the art can also be used in the embodiments described herein.

Shape memory polymers (SMP) allow for programing of the polymerproviding it with the ability to change shape from a first to a secondshape. The shape-memory effect is not an intrinsic property, meaningthat polymers do not display this effect by themselves. Shape memoryresults from a combination of polymer morphology and specific processingand can be understood as a polymer functionalization. By conventionalprocessing, e.g. extruding or injection molding, the polymer is formedinto its initial, permanent shape B. Afterwards, in a process calledprogramming, the polymer sample is deformed and fixed into the temporaryshape A. Upon application of an external stimulus (e.g., heat orelectric field), the polymer recovers its initial permanent shape B.This cycle of programming and recovery can be repeated several times,with different temporary shapes in subsequent cycles. Shape-memorypolymers can be elastic polymer networks that are equipped with suitablestimuli-sensitive switches. The polymer network consists of molecularswitches and net points. The net points determine the permanent shape ofthe polymer network and can be a chemical (covalent bonds) or physical(intermolecular interactions) nature. Physical cross-linking is obtainedin a polymer whose morphology consists of at least two segregateddomains, as found for example in block copolymers. Additionalinformation and examples of SMPs can be found in Shape Memory Polymers,MaterialsToday, Vol. 10, pages 20-28 (April 2007), the disclosure ofwhich is incorporated by reference herein in its entirety.

Transformation of SMPs from one or a first configuration to another or asecond configuration is suitably controlled by controlling thetemperature of the SMP in relation to its glass transition temperature(Tg). Raising the temperature of the SMP by heating it above its Tg,will cause the SMP actuator to transition to its second (memorized ororiginal) configuration, resulting in activation or actuation of themulti-stable material and moving or transforming from a first stableconfiguration to a second stable configuration, and suitably to a third(and fourth, fifth etc., if desired) stable configuration. Exemplaryshape memory polymers include various block copolymers, such as variouspoly(urethanes), poly(isoprene) and poly(ether esters), which have beenprogrammed to have the required shape memory characteristics.

In the fiber actuators described herein, polymeric layer 104 is suitablya soft polymer, including for example an electroactive polymer, or ashape memory polymer, configured to deform so as to provide hapticfeedback. As used herein “configured to deform” means that the polymeris shaped, formed, oriented or otherwise structured in the fiberactuator so as to be able to move, change shape, vibrate, elongate,contract, etc., so as to provide haptic feedback as the fiber actuatormoves, changes shape, vibrates, elongates, contracts, etc. Themalleability or flexibility of the polymer layer allows for it to deformor change shape in response to an electric field (and heating ifrequired) applied between the first and second conductive elements. Forexample, polymeric layer 104 can contract, causing the fiber actuator toshrink or deform in shape, or can expand, causing the fiber actuator toextend, contract or otherwise deform in shape. In general, the amount ofmovement or deformation of fiber actuators in response to an electricfield will be on the order of a few percent (0.5-5%) of the totaldiameter and/or length of the fiber actuator.

In exemplary embodiments, as shown in FIG. 2A, fiber actuator 100 can beassociated with a structural material 210, so as to form a smartmaterial 200. In exemplary embodiments, structural material 210 can be atextile, including part of a wearable, as described herein.

Thus, in embodiments, provided herein are smart materials for providinghaptic feedback to a user. Exemplary smart materials 200 include, forexample, structural material 210 and fiber actuator 100 associated withthe structural material. As described herein, fiber actuator 100 caninclude first conductive element (102 if hollow fiber or 102′ if solidcore fiber) polymeric layer 104 concentrically disposed about the firstconductive element and configured to deform so as to provide hapticfeedback, and second conductive element 106 concentrically disposedabout the polymeric layer. As described through, the fiber actuator hasa substantially uniform cross-section, and in embodiments, asubstantially circular cross-section, for substantially an entire lengthof the fiber. Exemplary materials for use as the conductive elements andthe polymeric layers are described herein.

Various mechanisms for associating or attaching fiber actuator 100 tostructural material 210 can be used. For example, fiber actuator 100 canbe integrated into structural material 210. Fiber actuator 100 can bemade part of structural material 210 during formation of structuralmaterial 210, such as during weaving or sewing of a textile, etc. Thatis, fiber actuator 100 can be directly sewn or weaved into a textile orfabric, for example, between two pieces of a textile, or as part of thestructure of a structural material, including a textile, therebyintegrating the fiber actuator into the structural material.

In additional embodiments, fiber actuator 100 can be fixedly attached tostructural material 210. In such embodiments, fiber actuator 100 can beglued, taped, stitched, adhered, stapled, tacked, or otherwise attachedto structural material 210. Fiber actuator 100 can also be integratedinto, or on, various substrates, e.g., polymers such as rubbers,silicones, silicone elastomers, Teflon, or poly(ethylene terephthalate),etc., in the form of patches, ribbons or tapes that can then be attachedto structural material 210 (e.g., adhered or sewn).

In integrating fiber actuators into structural material 210, it isgenerally desirable to orient the fiber actuators in a parallel or otherorientation such that when activated, their movement in concert resultsin movement of the structural material, rather than cancelling out theirchanges in shape or size. In other embodiments, two sets oftwo-dimensional fiber sections can be prepared, however, and oriented ina perpendicular manner. In such embodiments, a first set of fibers (or amesh of fibers) can be actuated to provide actuation in a desireddirection, followed by actuating the fibers in a second direction(including a perpendicular direction), and still provide the desiredactuation.

The number and concentration of fiber actuators 100 in structuralmaterial 210 will vary depending on the application and type ofstructural material 210 or smart material 200, but is in general on theorder of one fiber actuator per square centimeter or one fiber actuatorper square inch, but can be included at a higher density, e.g., on theorder of 10's of fibers per square centimeter or square inch.

As described herein, power source 208 can be connected to fiber actuator100, and suitably to one or both of the first and second conductiveelements. In embodiments, power source 208 can be permanently connectedto fiber actuator 100, or in other embodiments, can be separate from thefiber actuator, and later connected. In embodiments where the fiberactuator is part of a structural material, i.e., a wearable, the powersource can be physically associated with the wearable, and attached asdesired or required, to fiber actuator 100.

The amount of power provided by power source 208 is suitably on theorder of about 0.1 Watts (W) to about 10 W, or more suitably about 0.5 Wto about 5 W, or about 1 W to about 5 W, or about 0.5 W, about 1 W,about 2 W, about 3 W, about 4 W or about 5 W. Exemplary power sources208 including various battery packs as well as solar energy sources.Power source 208 can also include a re-chargeable system, for example, asystem capable of recharging through the use of a piezoelectricmaterial.

As described herein, in embodiments, polymeric layer 104 deforms inresponse to an electric field between first conductive element 102/102′and second conductive element 106. This can result in compression orexpansion of polymeric layer 104, depending on the type of polymerselected, thereby providing motion or deformation of the fiber actuator.For example, as shown in FIG. 2A, fiber actuator 100 can move or deformin a lateral direction 204 (i.e., across the width or diameter of thefiber actuator), and/or a longitudinal direction 202 (i.e., along thelength of the fiber actuator). The deformation of fiber actuator 100 canresult in movement or deformation of structural material 210, forexample, as shown in FIG. 2B, as the structural material changes shape,moves, or otherwise deforms, thereby providing haptic feedback to a user(mechanical haptic feedback).

As shown in FIG. 1B and FIG. 1C, fiber actuator 100 can further includean insulator layer 108, concentrically disposed about the secondconductive element 106. As shown in FIG. 1A, insulator layer 108 cancover over at least a segment of the length of fiber actuator 100. Thus,as shown in FIG. 1A, fiber actuator 100 can include portions of thefiber, where the outer most layer is insulator layer 108, and othersections, where the outer most layer is second conductive element 106.

Examples of material useful in forming insulator layer 108 include forexample, polymeric materials, rubbers, plastics, ceramics etc. Inembodiments, the materials selected for insulator layer 108 are suitablythin materials, on the order of 0.5 μm to 10 mm in thickness, moresuitably about 0.5 μm to 1 mm, about 0.5 μm to 100 μm, or about 0.5 μmto 10 μm, and are selected so as to be flexible such that when fiberactuator 100 is part of a textile or fabric, including as a wearable,the materials can bend and conform to the various shapes necessaryduring wearing by a user, while still providing the desired hapticfeedback.

In embodiments where fiber actuator 100 comprises insulator 108, thefiber actuator can provide electrostatic feedback or an electrostaticinteraction (i.e., non-mechanical haptic feedback) to a user, over thesection or length of the fiber actuator that includes the insulator.

Upon interaction with fiber actuator 100 that includes insulator 108,and/or smart material 200 which includes fiber actuator 100 thatincludes insulator 108, for example via a user touch, haptic feedbackcan be provided via an electrostatic interaction or electrostaticfeedback to the user. The electrostatic feedback can be in the form of ashort vibration or pulse, or an extended vibration to the user. Thefrequency of the electrostatic feedback or interaction can be on theorder of about 1 Hz to about 1000 Hz, more suitably about 1 Hz to about500 Hz, about 1 Hz to about 200 Hz, about 10 Hz to about 200 Hz, about10 Hz to about 100 Hz, or about 10 Hz, about 20 Hz, about 30 Hz, about40 Hz, about 50 Hz, about 60 Hz, about 70 Hz, about 80 Hz, about 90 Hzor about 100 Hz. Haptic feedback can also be provided by theelectrostatic interaction if a user simply approaches, or is near, thesmart material or the fiber actuator, signaling a close proximity to thesmart material, which may result in the electrostatic interaction andthe haptic feedback therefrom.

In embodiments, for example as shown in FIG. 1A, fiber actuator 100 caninclude both sections that have insulator 108, and sections that do nothave insulator 108. Fiber actuators that have both sections can thusprovide both an electrostatic interaction or electrostatic feedback(non-mechanical), as well as haptic feedback resulting from thedeformation, movement or change in shape (mechanical) of fiber actuator100.

In additional embodiments, smart material 200 can include fiberactuators that include insulator 108, and fiber actuators that lackinsulator 108, in the same smart material. In such embodiments, thesmart material can provide feedback via both electrostatic interactionor electrostatic feedback and haptic feedback resulting from thedeformation, movement or change in shape of fiber actuator 100. Smartmaterial 200 can comprise sections that include primarily one type offiber actuator (e.g., lacking insulator 108) and sections that includeprimarily another type of fiber actuator (e.g., including insulator108), thereby providing distinct sections of smart material 200 thatprovide different types of haptic feedback. In further embodiments, thefiber actuators can be distributed throughout the smart material so thatboth movement/deformation-based haptic feedback and electrostatic-basedhaptic feedback can be provided in the same area of the smart material.

In embodiments in which electrostatic interactions are produced orprovided, power source 208, which is connected to first (102 or 102′)and/or second conductive element 106, is also suitably connected toground. In embodiments, first conductive element 102/102′ can act asground, with second conductive element being connected to power source208 to provide electrostatic feedback to a user when the user contactsinsulator layer 108. In additional embodiments, a user's body (e.g.,arm, leg, torso, head, neck, etc.) can act as a ground for theelectrostatic interaction, whereby the haptic feedback is provided orfelt via the user's touch (or close approach). In further embodiments, auser's touch can act as ground for the electrostatic interaction,whereby the haptic feedback is provided or felt via the user's body,rather than through user's touch (or close approach). In still furtherembodiments, the haptic feedback in the form of an electrostaticinteraction can be felt by either, or both, user's body and/or user'stouch.

As described herein, in embodiments, smart material 200, and thusstructural material 210, can be incorporated into or be part of wearablearticles, such as, textiles, including shirts, blouses, hats, jackets,coats and pants/shorts, resulting in a wearable smart material. Thestructural materials can also be integrated into accessories, includingvarious leather goods, including wallets and purses, handbags (includinghandles of such), backpacks, and jewelry, etc.

In additional embodiments, provided herein are methods for providinghaptic feedback to a user via fiber actuator 100. Exemplary methodsinclude providing fiber actuator 100, which includes providing smartmaterial 200, including fiber actuator 100 associated with or integratedinto structural material 210, for example, as part of a wearable,accessory good, etc. As described herein, fiber actuator 100 can includefirst conductive element (102 if hollow fiber or 102′ if solid corefiber) polymeric layer 104 concentrically disposed about the firstconductive element, and second conductive element 106 concentricallydisposed about the polymeric layer. As described through, the fiberactuator has a substantially circular cross-section over substantiallyan entire length of the fiber. Exemplary materials for use as theconductive elements and polymeric layers are described herein.

The methods further comprise transmitting an actuation signal 206, forexample, as illustrated in FIG. 2A, to power source 208, which iselectrically coupled to fiber actuator 100. The methods further comprisegenerating haptic feedback via the fiber actuator.

As described through, in embodiments, generating haptic feedbackincludes generating an electric field between first conductive element(102 or 102′) and second conductive element 106, resulting indeformation of polymeric layer 104. In exemplary embodiments, polymericlayer 104, which can be an electroactive polymer or a smart polymer,deforms, moves, changes shape, or otherwise reacts to the electric fieldcausing movement of the fiber actuator, and in embodiments, movement ofstructural material 210, thereby providing haptic feedback to a user.The polymeric layer 104 can also deform or change shape in response to achange in temperature which results from the generation of the electricfield. Such movement and haptic feedback is “mechanical” in nature, inthat it is felt by the user as a movement, vibration or deformation ofthe fiber actuator, and thus the smart material/structural material.

In still further embodiments where fiber actuator 100 includes insulatorlayer 108 disposed about second conductive 106 element over at least asegment of the length of the fiber actuator, the generating hapticfeedback includes generating an electrostatic feedback to the user. Thiselectrostatic feedback can occur as a user interacts with the fiberactuator or the structural material, including both direct contact andclose contact with the fiber actuator or the structural material. Thiselectrostatic feedback is non-mechanical in nature as it results fromelectrostatic forces, rather than physical movement or deformation.

Exemplary actuation signals 206 can be from a cellular phone, tablet,computer, car interface, smart device, game console, etc., and canindicate for example the receipt of a text message or e-mail, phonecall, appointment, etc.

In further embodiments, a controller is also suitably included toprovide an interface between a device, including an external device, andsmart materials 200 and/or fiber actuators 100, as described herein.Components of a controller are well known in the art, and suitablyinclude a bus, a processor, an input/output (I/O) controller and amemory, for example. A bus couples the various components of controller,including the I/O controller and memory, to the processor. The bustypically comprises a control bus, address bus, and data bus. However,the bus can be any bus or combination of busses suitable to transferdata between components in the controller.

A processor can comprise any circuit configured to process informationand can include any suitable analog or digital circuit. The processorcan also include a programmable circuit that executes instructions.Examples of programmable circuits include microprocessors,microcontrollers, application specific integrated circuits (ASICs),programmable gate arrays (PGAs), field programmable gate arrays (FPGAs),or any other processor or hardware suitable for executing instructions.In the various embodiments, the processor can comprise a single unit, ora combination of two or more units, with the units physically located ina single controller or in separate devices.

An I/O controller comprises circuitry that monitors the operation of thecontroller and peripheral or external devices. The I/O controller alsomanages data flow between the controller and peripherals or externaldevices. Examples of peripheral or external devices with the which I/Ocontroller can interface include switches, sensors, external storagedevices, monitors, input devices such as keyboards, mice or pushbuttons,external computing devices, mobile devices, and transmitters/receivers.

The memory can comprise volatile memory such as random access memory(RAM), read only memory (ROM), electrically erasable programmable readonly memory (EEPROM), flash memory, magnetic memory, optical memory orany other suitable memory technology. Memory can also comprise acombination of volatile and nonvolatile memory.

The memory is configured to store a number of program modules forexecution by the processor. The modules can, for example, include anevent detection module, an effect determination module, and an effectcontrol module. Each program module is a collection of data, routines,objects, calls and other instructions that perform one or moreparticular task. Although certain program modules are disclosed herein,the various instructions and tasks described for each module can, invarious embodiments, be performed by a single program module, adifferent combination of modules, modules other than those disclosedherein, or modules executed by remote devices that are in communicationwith the controller.

In embodiments described herein, the controller, which can include awireless transceiver (including a Bluetooth or infrared transceiver),can be integrated into structural material 210 or can be separate fromthe structural material. In further embodiments, the controller can beon a separate device from the structural material, but is suitablyconnected via a wired or more suitably a wireless signal, so as toprovide actuation signal 206 to the fiber actuators, power sources, andsmart materials described herein.

For example, the controller can provide actuation signal 206 to anactuator drive circuit, which in turn communicates with power supply208, of the smart materials or fiber actuators described herein, so asto provide haptic feedback to a user of a smart material or system asdescribed herein. For example, desired haptic feedback can occur, forexample, when a mobile phone or other device to which a controller ispaired via wireless connection receives a message or email. Additionalexamples include a controller being associated with devices such as gamecontrollers, systems or consoles, computers, tablets, car or truckinterfaces or computers, a health monitoring device, automated paymentmachines or kiosks, various keypad devices, televisions, variousmachinery, etc. In such embodiments, the controller suitably providesactuation signal 206 to an actuator drive circuit, to provide hapticfeedback to a user in response to a signal originated by or from anexternal device. The device can also be a part of the wearable on whichthe various components of the haptic feedback systems described hereinare contained. For example, the fiber actuators described herein can bemade part of a watch band, where the face of the watch is a smart watch,for example, and the user sets the watch to provide haptic feedback viathe fiber actuators integrated into the band (i.e., vibrate, motion,contraction etc., based on a received e-mail, alarm, othernotification). Exemplary feedback or signals that can be provided by adevice, include, for example, indications of incoming messages orcommunication from a third party, warning signals, health status updates(i.e., blood pressure or heart palpitations), gaming interaction, driverawareness signals, computer prompts, etc.

In further embodiments, the smart materials and components describedherein can be integrated with or be part of a virtual reality oraugmented reality system. In such embodiments, the smart materials canprovide haptic feedback to a user as he or she interacts with a virtualor augmented reality system, providing responses or feedback initiatedby the virtual reality or augmented reality components and devices.

In further embodiments, the interaction between the user, fiber actuator100 and an external device can occur via direct interaction between theuser and fiber actuator 100 or smart material 200, which in turnprovides a signal to an external device. For example, a user caninteract with a smart material in the form of a wearable on the user'sbody, by touching, swiping, pressing or otherwise touching thestructural material of the wearable, which suitably includes the fiberactuators described herein. This interaction can result in a signalbeing transferred to an external device, demonstrating or confirming auser interaction has taken place.

In embodiments of the methods described herein, the actuation signal(s)described herein is transmitted to the power source. Movement is thengenerated in the fiber actuator, resulting in actuation of thestructural material. In addition, an electrostatic interaction can alsobe generated upon user interaction, in embodiments where the fiberactuator is designed to provide electrostatic feedback. The combinationof the movement of the fiber actuator, and/or the electrostaticinteraction, provides haptic feedback to the user. In variousembodiments, the order, sequence, frequency, and intensity of both themovement of the fiber actuator and electrostatic interaction can bevaried, depending on the type of interaction or the type of desiredfeedback.

For example, in embodiments, a user may experience haptic feedback fromthe movement of the fiber actuator, upon which the user may interactwith the fiber actuator, or other fiber actuators in the smart material,creating an electrostatic interaction which provides additional, furtherhaptic feedback. In further embodiments, the user may interact with thestructural material, which in turn provides an electrostaticinteraction, and the structural material may further provide movementfrom the fiber actuator to provide the haptic feedback. In furtherembodiments, the user can interact with a first fiber actuator, whichprovides a motion-based or mechanical haptic feedback indicating thatthe interaction has been successful, followed by an electrostaticinteraction (non-mechanical feedback) from a second fiber actuator,indicating that, for example, a desired task has been completed.

Examples of intensity, frequency and timing of the various hapticfeedback are provided herein, and can be tailored as desired by the useror the device with which the user is interacting. Examples of devicesand methods for activating or actuating the combined smart materials aredescribed herein, and include various computers, mobile devices, gamingsystems, automobiles, etc.

The various embodiments described above are provided by way ofillustration only and should not be construed to limit the claimsattached hereto. Those skilled in the art will readily recognize variousmodifications and changes that may be made without following the exampleembodiments and applications illustrated and described herein, andwithout departing from the true spirit and scope of the followingclaims.

What is claimed is:
 1. A patterned fiber actuator for providing hapticfeedback, comprising: a first conductive element; a polymeric layerconcentrically disposed about the first conductive element andconfigured to deform so as to provide haptic feedback; a secondconductive element concentrically disposed about the polymeric layer;and an insulator layer concentrically disposed about the secondconductive element over at least a portion of a length of the fiberactuator, wherein the patterned fiber actuator has a substantiallyuniform cross-section substantially along an entire length of thepatterned fiber actuator, and wherein the first conductive elementand/or the second conductive element are positioned over sections of thepolymeric layer, with other sections of the polymeric layer lacking thefirst conductive element and/or the second conductive element.
 2. Thepatterned fiber actuator of claim 1, wherein the first conductiveelement forms a solid core of the patterned fiber actuator, or whereinthe first conductive element forms a hollow core of the patterned fiberactuator.
 3. The patterned fiber actuator of claim 1, wherein thepolymeric layer comprises an electroactive polymer selected from thegroup consisting of poly(vinylidene fluoride), poly(pyrrole),poly(thiophene), poly(aniline) and mixtures, co-polymers, andderivatives of these electroactive polymers.
 4. The patterned fiberactuator of claim 1, wherein the polymeric layer comprises a shapememory polymer.
 5. The patterned fiber actuator of claim 1, wherein thepatterned fiber actuator is associated with a structural material. 6.The patterned fiber actuator of claim 5, wherein the structural materialis part of a wearable smart material.
 7. The patterned fiber actuator ofclaim 1, wherein the polymeric layer deforms in response to an electricfield between the first conductive element and the second conductiveelement, to provide haptic feedback.
 8. The patterned fiber actuator ofclaim 1, wherein the patterned fiber actuator provides an electrostaticfeedback over at least the portion of the length comprising theinsulator layer.
 9. The patterned fiber actuator of claim 1, wherein thesections comprising the first conductive element and/or the secondconductive element, and the sections lacking the first conductiveelement and/or the second conductive element, are repeated substantiallyalong the entire length of the patterned fiber actuator.
 10. A smartmaterial for providing haptic feedback, comprising: a structuralmaterial; and a patterned fiber actuator associated with the structuralmaterial, comprising: a first conductive element; a polymeric layerconcentrically disposed about the first conductive element andconfigured to deform so as to provide haptic feedback; a secondconductive element concentrically disposed about the polymeric layer;and an insulator layer concentrically disposed about the secondconductive element over at least a portion of a length of the patternedfiber actuator, wherein the patterned fiber actuator has a substantiallycircular cross-section substantially along an entire length of thepatterned fiber actuator, and wherein the first conductive elementand/or the second conductive element are positioned over sections of thepolymeric layer, with other sections of the polymeric layer lacking thefirst conductive element and/or the second conductive element.
 11. Thesmart material of claim 10, wherein the structural material is part of awearable smart material.
 12. The smart material of claim 10, wherein thefirst conductive element forms a solid core of the patterned fiberactuator, or wherein the first conductive element forms a hollow core ofthe patterned fiber actuator.
 13. The smart material of claim 10,wherein the polymeric layer comprises an electroactive polymer, selectedfrom the group consisting of poly(vinylidene fluoride), poly(pyrrole),poly(thiophene), poly(aniline) and mixtures, co-polymers, andderivatives of these electroactive polymers.
 14. The smart material ofclaim 10, wherein the polymeric layer comprises a shape memory polymer.15. The smart material of claim 10, further comprising a power sourceelectrically coupled to the patterned fiber actuator.
 16. The smartmaterial of claim 10, wherein the sections comprising the firstconductive element and/or the second conductive element, and thesections lacking the first conductive element and/or the secondconductive element, are repeated substantially along the entire lengthof the patterned fiber actuator.
 17. A method for providing hapticfeedback via a patterned fiber actuator, the method comprising:providing a patterned fiber actuator, comprising: a first conductiveelement; a polymeric layer concentrically disposed about the firstconductive element and configured to deform so as to provide hapticfeedback; a second conductive element concentrically disposed about thepolymeric layer; and an insulator layer concentrically disposed aboutthe second conductive element over at least a portion of a length of thepatterned fiber actuator, wherein the patterned fiber actuator has asubstantially circular cross-section substantially along an entirelength of the fiber actuator, and wherein the first conductive elementand/or the second conductive element are positioned over sections of thepolymeric layer, with other sections of the polymeric layer lacking thefirst conductive element and/or the second conductive element,transmitting an actuation signal to a power source electrically coupledto the patterned fiber actuator; and generating haptic feedback via thepatterned fiber actuator.
 18. The method of claim 17, wherein thegenerating comprises generating an electric field between the firstconductive element and the second conductive element, resulting in adeformation of the polymeric layer.
 19. The method of claim 17,generating an electrostatic feedback to a user over at least the portionof the length comprising the insulator layer.
 20. The method of claim17, wherein the sections comprising the first conductive element and/orthe second conductive element, and the sections lacking the firstconductive element and/or the second conductive element, are repeatedsubstantially along the entire length of the patterned fiber actuator.